CN117048848B - Space attitude and deformation testing method for full-size airplane test - Google Patents
Space attitude and deformation testing method for full-size airplane test Download PDFInfo
- Publication number
- CN117048848B CN117048848B CN202311319696.XA CN202311319696A CN117048848B CN 117048848 B CN117048848 B CN 117048848B CN 202311319696 A CN202311319696 A CN 202311319696A CN 117048848 B CN117048848 B CN 117048848B
- Authority
- CN
- China
- Prior art keywords
- aircraft
- measuring point
- tracking
- fuselage
- coordinate system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000012360 testing method Methods 0.000 title claims abstract description 56
- 230000000007 visual effect Effects 0.000 claims abstract description 38
- 238000000034 method Methods 0.000 claims abstract description 23
- 238000005259 measurement Methods 0.000 claims abstract description 21
- 238000004364 calculation method Methods 0.000 claims abstract description 14
- 230000006835 compression Effects 0.000 claims description 22
- 238000007906 compression Methods 0.000 claims description 22
- 238000006073 displacement reaction Methods 0.000 claims description 10
- 230000001360 synchronised effect Effects 0.000 claims description 7
- 239000011159 matrix material Substances 0.000 claims description 5
- 230000001960 triggered effect Effects 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 239000000284 extract Substances 0.000 claims description 3
- 238000010998 test method Methods 0.000 claims description 2
- 238000012800 visualization Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- QBWCMBCROVPCKQ-UHFFFAOYSA-N chlorous acid Chemical compound OCl=O QBWCMBCROVPCKQ-UHFFFAOYSA-N 0.000 description 1
- 238000013079 data visualisation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Transportation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention provides a space attitude and deformation testing method for a full-size aircraft test, and belongs to the technical field of full-size aircraft tests. The space attitude and deformation testing method is characterized in that a plurality of target balls are fixed on a frame section and wings of an airplane, and a tracking coordinate system is calibrated to construct a visual three-dimensional image of the airplane; finally, in the full-size aircraft test, the target point ball is used as a measuring point, measuring point data are acquired by tracking the measuring point, and the aircraft space attitude and deformation data are obtained based on the measuring point data by calculation, so that the problem that the existing full-size aircraft test cannot meet the measurement requirements of a large field of view range, multiple measuring points and high precision on the measurement of the aircraft space attitude and wing deformation is solved, and the full-size aircraft test has the advantages of more accurate measurement data and visualization of the aircraft space attitude and deformation process.
Description
Technical Field
The invention relates to the technical field of full-size aircraft tests, in particular to a space attitude and deformation testing method for a full-size aircraft test.
Background
The full-size aircraft test is a test for loading and simulating the real working condition of the full-size aircraft to verify the structural strength and bearing capacity of the aircraft, and the performance and the safety of the aircraft in actual use are reflected through the test, so that potential problems and defects are found and improved.
The data testing steps of the full-size aircraft test mainly comprise data acquisition, data transmission, data processing and analysis and data visualization. The data acquisition is a key link of the test, and by using various sensors and measuring equipment, key parameters such as load, deformation, acceleration and the like are acquired, and the strength and the performance of the aircraft are evaluated through the data, so that a basis is provided for the optimization and the improvement of the aircraft structure. Post-processing of the data can display the results of the data processing and analysis in the form of graphics, images and the like through a visualization technology so as to more intuitively understand and interpret the data.
The existing full-size aircraft test has the following defects: the requirement of the full-size airplane on the measurement of a large field of view range cannot be met; the high-speed shooting and sensor measuring means cannot monitor the data of the test piece, particularly the wing deformation data in real time; visual display of the spatial attitude and deformation of the full-size aircraft cannot be realized.
Disclosure of Invention
The invention solves the technical problems that: the existing full-size aircraft test cannot meet the measurement requirements of large field range, multiple measuring points and high precision for the measurement of the spatial attitude and the wing deformation of the aircraft.
In order to solve the problems, the technical scheme of the invention is as follows:
a space attitude and deformation test method for full-size airplane test is provided, wherein a plurality of target balls are fixed on a fuselage frame section and wings of an airplane, and a tracking coordinate system is calibrated to construct a visual three-dimensional image of the airplane; finally, in a full-size aircraft test, taking a target ball as a measuring point, tracking the measuring point to acquire measuring point data, and calculating based on the measuring point data to obtain aircraft space attitude and deformation data; wherein, a plurality of target balls on a single-side wing of the airplane are positioned at the outermost edge of the wing, the target balls on the two wings are symmetrical with respect to the fuselage.
Further, the aircraft spatial attitude and deformation data includes aircraft pitch angle, aircraft roll angle, buffer compression of the landing gear, tire compression of the landing gear, and wing end displacement variation.
Description: the space attitude and deformation testing method can directly acquire the measuring point data by taking the target point ball as the measuring point, and directly acquire the space attitude and deformation data of the aircraft according to the measuring point data, thereby avoiding the problems of numerous devices and inaccurate measurement caused by the traditional data acquisition mode of the sensor.
Further, the number of the target balls fixed on the single-side wing is 3-4, and the distance between the target balls is 10-20 cm.
Description: the selection principle of the target point ball fixed position is as follows: the positions in the visual three-dimensional image of the aircraft do not overlap; the space attitude and deformation testing method can solve the problem that the wing displacement cannot be measured by the traditional sensor, reduces the use of the traditional sensor, thereby reducing the additional mass, and has higher measurement accuracy.
Further, the frame section of the machine body comprises a machine body and a landing gear fixed on the lower side of the machine body, 20-26 target balls are fixed on the machine body, the machine body comprises a front machine body, a middle machine body and a rear machine body, wherein the front machine body is a frame section from the last frame section of the cockpit to the forefront frame section of the machine head, each frame section of the front machine body is fixedly provided with 1 target ball, the rear machine body is a frame section from the landing gear to the last frame section of the tail, each frame section of the rear machine body is fixedly provided with 1 target ball, the middle machine body is the rest frame sections in the middle, and each frame section of the middle machine body is fixedly provided with 1 target ball; be fixed with 5~7 target balls on the undercarriage, the undercarriage includes the bumper and rotates the tire of being connected through the shaft with the bumper bottom, is equipped with sleeve and lower sleeve on the bumper, and the shaft outside positive center is equipped with 1 target ball, is equipped with 2~3 target balls on the upper sleeve, is equipped with 2~3 target balls on the lower sleeve, and is parallel with bumper stroke track with the line of last telescopic target ball.
Description: according to the space attitude and deformation testing method, the space attitude and deformation conditions of the aircraft can be accurately simulated through the target ball, so that test data are closer to actual conditions.
Further, the tracking coordinate system is established through a horizontally placed calibration coordinate system model; the X direction of the tracking coordinate system is consistent with the heading of the aircraft, the Y direction is consistent with the lateral direction of the aircraft, and the Z direction is determined by a right-hand rule on the basis of the X direction and the Y direction; the calibration coordinate system model consists of an A-frame and an L-shaped plate fixed on the A-frame, a plurality of target balls are fixed on the L-shaped plate, the short side of the L-shaped plate points to the X direction of the tracking coordinate system, the long side of the L-shaped plate points to the Y direction of the tracking coordinate system, and the intersection point of the L-shaped plate is the origin of the tracking coordinate system.
Description: the calibration coordinate system model can be used as a physical origin of a tracking coordinate system, so that accuracy of measurement point data obtained by tracking is ensured.
Preferably, the method for constructing the visual three-dimensional image of the airplane comprises the following steps: and establishing a front fuselage model, a middle fuselage model, a rear fuselage model and a wing model of the aircraft, and connecting the front fuselage model, the middle fuselage model and the rear fuselage model with the wing model to obtain a visual three-dimensional image of the aircraft.
Description: based on the visual three-dimensional image of the airplane, the position of the target ball can be displayed in the visual three-dimensional image, so that the space attitude and deformation condition of the airplane are dynamically and visually represented.
Preferably, the measurement point data is three-dimensional coordinate data of the measurement point in a tracking coordinate system.
Description: and the space attitude and deformation data of the aircraft are directly calculated through the three-dimensional coordinate data, so that the data acquisition speed is higher and the data accuracy is higher compared with the traditional method for acquiring the data through the sensor.
Preferably, the calculation formula of the aircraft pitch angle is:
，
in the above-mentioned method, the step of,for the pitch angle of the aircraft->For the forward fuselage measuring point in the tracking coordinate system +.>Coordinate value of->Tracking coordinate system for front fuselage measuring point>Coordinate value of->For the rear fuselage measuring point in the tracking coordinate system +.>Coordinate value of->Tracking coordinate system for rear fuselage measuring point>Coordinate values;
the calculation formula of the aircraft roll angle is as follows:
，
in the above-mentioned method, the step of,for aircraft roll angle, +.>For the forward fuselage measuring point in the tracking coordinate system +.>Coordinate value of->Tracking coordinate system for front fuselage measuring point>Coordinate value of->Tracking aft fuselage survey pointsCoordinate system +.>Coordinate value of->Tracking coordinate system for rear fuselage measuring point>Coordinate values;
the calculation formula of the tire compression amount of the landing gear is as follows:
，
in the above-mentioned method, the step of,for the amount of compression of the tyre>For tyre measuring points->Coordinate value of->Is the tire measuring point when the landing gear of the full-size airplane touches the ground>Coordinates;
the calculation formula of the buffer compression amount of the landing gear is as follows:
，
in the above-mentioned method, the step of,buffer compression for landing gear, +.>For measuring points of the lower sleeve of the bufferThe x-coordinate value of the x-coordinate value,for the z-coordinate value of the measuring point of the lower sleeve of the buffer, < >>For x-coordinate values of the measuring points of the sleeve on the buffer, respectively>For the z-coordinate value of the measurement point of the sleeve on the buffer, and (2)>Is the nose angle of the landing gear;
the variation of the displacement of the wing end, i.e. the target ball of the wingThe amount of change in the coordinate values.
Description: the space attitude and deformation data of the aircraft can be directly calculated through the three-dimensional coordinate data, the traditional sensor has limited range through laser ranging, the acquired data is one-dimensional, and especially the data can not be used for measuring the position change data of the aircraft wing.
Preferably, the method for tracking the measuring point comprises the following steps:
s1, arranging a plurality of infrared tracking special camera matrixes along one side of an airplane, wherein each infrared tracking special camera matrix consists of a plurality of infrared tracking special cameras, target balls in the visual field range of each infrared tracking special camera are the same, each infrared tracking special camera is connected with a tera-megaswitch through a network cable, then an upper computer is electrically connected with the tera-switch, the connection state of the infrared tracking special cameras is checked through the upper computer, and the data communication between the infrared tracking special cameras and the upper computer is ensured;
s2, acquiring the visual field range of each infrared tracking special camera through an upper computer, finely adjusting the angle and the height of the infrared tracking special camera, and ensuring that all target balls are in the visual field range of the infrared tracking special camera and the target balls are positioned in the middle area of the vertical visual field range of the camera when the aircraft is placed on the ground;
s3, adjusting the height of the aircraft until the lower edge of the landing gear contacts with the force measuring platform, manually triggering and collecting a group of measuring point data, and recording the data as zero point data;
s4, establishing connection between the tera-sized exchanger and a synchronous locking device, wherein the synchronous locking device is connected with a trigger box, and determining trigger conditions for starting a space gesture and deformation test in a full-size aircraft test;
s5, when the triggering condition is triggered, starting a space gesture and deformation test, acquiring measuring point data corresponding to each contact on the aircraft in real time by an infrared tracking special camera, and transmitting the measuring point data to an upper computer;
and S6, the upper computer extracts and calculates the acquired measurement point data to obtain the aircraft space attitude and deformation data.
Description: the three-dimensional coordinate data of the position change corresponding to each target ball on the aircraft can be obtained in real time by combining the visual three-dimensional image of the aircraft with the calibrated coordinate system model through the infrared tracking special camera, so that the space attitude and deformation data of the aircraft can be obtained through real-time calculation.
Further preferably, the basis for determining that all the target balls are within the field of view of the infrared tracking dedicated camera is: each target ball exists in the visual field of 3-10 cameras; the acquisition method of the measuring point data comprises the following steps: the infrared tracking special camera emits infrared light, the target ball reflects the infrared light, then the infrared tracking special camera captures a two-dimensional image of the target ball, namely a two-dimensional image of the measuring point, and then the motion capture software calculates three-dimensional coordinate data of the measuring point in a tracking coordinate system to serve as measuring point data.
Description: the target point ball is positioned in the visual field of a plurality of infrared tracking special cameras, so that the position of the measuring point can be determined.
The beneficial effects of the invention are as follows:
the invention establishes a tracking coordinate system, establishes a visual three-dimensional image of the aircraft based on the tracking coordinate system, acquires three-dimensional coordinate data of each part of the aircraft in a full-size aircraft test by tracking target balls fixed on a fuselage frame section and wings of the aircraft, calculates and obtains aircraft space attitude and deformation data according to the three-dimensional coordinate data, solves the problem that the traditional sensor cannot measure the displacement of the wings of the aircraft, overcomes the defects that the traditional sensor uses laser ranging, has limited measuring range and acquires data as one-dimensional data, describes inaccurate conditions of the space attitude and the deformation, and has the advantages of more accurate measurement data and visual aircraft space attitude and deformation process.
Drawings
FIG. 1 is a schematic illustration of the fixed position of a target ball on an aircraft in accordance with example 1 of the present invention;
FIG. 2 is a schematic illustration of the fixed location of a target ball on a tire of an aircraft landing gear in example 1 of the present invention;
FIG. 3 is a schematic illustration of the fixed position of a target ball on landing gear of an aircraft in example 1 of the present invention;
FIG. 4 is a schematic diagram of the structure of the model of the calibration coordinate system in embodiment 1 of the present invention;
FIG. 5 is a schematic diagram of the arrangement position of a matrix of infrared tracking dedicated cameras on one side of an aircraft in embodiment 1 of the present invention;
FIG. 6 is a diagram showing the connection relationship of the tracking device in embodiment 1 of the present invention;
FIG. 7 is a visual three-dimensional image of an aircraft in example 1 of the present invention;
FIG. 8 is a schematic diagram of the position of a target ball within the field of view of an infrared tracking dedicated camera in example 1 of the present invention;
FIG. 9 is a graph of wing tip displacement variation in a full-scale aircraft test for example 1 of the present invention;
FIG. 10 is a graph of the variation in tire compression of landing gear in full-scale aircraft testing according to example 1 of the present invention;
FIG. 11 is a graph of the variation in buffer compression of landing gear in full-size aircraft testing according to example 1 of the present invention;
fig. 12 is a graph showing the change of the pitch angle of the aircraft in the full-size aircraft test according to example 1 of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, the "plurality" generally includes at least two.
Example 1: the embodiment describes a space attitude and deformation testing method for full-size airplane test, which is characterized in that a plurality of target balls are fixed on a frame section and wings of an airplane, as shown in fig. 1, and a tracking coordinate system is calibrated to construct a visual three-dimensional image of the airplane; finally, in a full-size aircraft test, taking a target ball as a measuring point, tracking the measuring point to acquire measuring point data, and calculating based on the measuring point data to obtain aircraft space attitude and deformation data; the aircraft comprises a wing, a plurality of target balls, a wing body, a wing cover and a wing cover, wherein the target balls are arranged on a single-side wing of the aircraft and are arranged on the outermost edge of the wing and are in a straight line along the wing cover, and the target balls on the two wings are symmetrical with respect to the fuselage.
It can be understood that the number of the target balls fixed on the single-side wing is 3, the target balls are arranged at equal intervals, the distance between the target balls is 10cm, and the selection principle of the fixed positions of the target balls is as follows: the positions in the visual three-dimensional image of the aircraft do not overlap.
It is understood that the measurement point data is three-dimensional coordinate data of the measurement point in the tracking coordinate system.
It will be appreciated that the aircraft spatial attitude and deformation data includes aircraft pitch angle, aircraft roll angle, buffer compression of the landing gear, tire compression of the landing gear and wing end displacement variation.
The calculation formula of the pitching angle of the airplane is as follows:
，
in the above-mentioned method, the step of,for the pitch angle of the aircraft->For the forward fuselage measuring point in the tracking coordinate system +.>Coordinate value of->Tracking coordinate system for front fuselage measuring point>Coordinate value of->For the rear fuselage measuring point in the tracking coordinate system +.>Coordinate value of->Tracking coordinate system for rear fuselage measuring point>Coordinate values;
the calculation formula of the aircraft roll angle is as follows:
，
in the above-mentioned method, the step of,for aircraft roll angle, +.>For the forward fuselage measuring point in the tracking coordinate system +.>Coordinate value of->Tracking coordinate system for front fuselage measuring point>Coordinate value of->For the rear fuselage measuring point in the tracking coordinate system +.>Coordinate value of->Tracking coordinate system for rear fuselage measuring point>Coordinate values;
the calculation formula of the tire compression amount of the landing gear is as follows:
，
in the above-mentioned method, the step of,for the amount of compression of the tyre>For tyre measuring points->Coordinate value of->Is the tire measuring point when the landing gear of the full-size airplane touches the ground>Coordinates;
the calculation formula of the buffer compression amount of the landing gear is as follows:
，
in the above-mentioned method, the step of,buffer compression for landing gear, +.>For the x coordinate value of the measurement point of the lower sleeve of the buffer,for the z-coordinate value of the measuring point of the lower sleeve of the buffer, < >>For x-coordinate values of the measuring points of the sleeve on the buffer, respectively>For the z-coordinate value of the measurement point of the sleeve on the buffer, and (2)>Is the nose angle of the landing gear;
the variation of the displacement of the wing end, i.e. the target ball of the wingThe amount of change in the coordinate values.
It can be understood that as shown in fig. 1 and 2, the frame section of the airframe comprises an airframe and a landing gear fixed on the lower side of the airframe, 20 target balls are fixed on the airframe, the airframe comprises a front airframe, a middle airframe and a rear airframe, the front airframe is the frame section from the last frame section of the cockpit to the forefront frame section of the aircraft nose, 1 target ball is fixed on each frame section of the front airframe, the rear airframe is the frame section from the landing gear to the last frame section of the tail, 1 target ball is fixed on each frame section of the rear airframe, the middle airframe is the rest frame section in the middle, and 1 target ball is fixed on each frame section of the middle airframe; the landing gear comprises a buffer and a tire rotationally connected with the bottom of the buffer through a wheel shaft, an upper sleeve and a lower sleeve are arranged on the buffer, 1 target ball is arranged in the center of the outer side of the wheel shaft, 2 target balls are arranged on the upper sleeve, 2 target balls are arranged on the lower sleeve, and the connecting line of the target balls with the upper sleeve is parallel to the stroke track of the buffer; the landing gear target ball placement position is shown in fig. 3.
It can be appreciated that the tracking coordinate system is established by a horizontally placed calibration coordinate system model; the X direction of the tracking coordinate system is consistent with the heading of the aircraft, the Y direction is consistent with the lateral direction of the aircraft, and the Z direction is determined by a right-hand rule on the basis of the X direction and the Y direction; as shown in fig. 4, the calibration coordinate system model is composed of a tripod and an L-shaped plate fixed on the tripod, 4 target balls are fixed on the L-shaped plate, the short side of the L-shaped plate points to the X direction of the tracking coordinate system, the long side of the L-shaped plate points to the Y direction of the tracking coordinate system, and the intersection point of the L-shaped plate is the origin of the tracking coordinate system; the intersection of L shape board is equipped with 1 target ball, and the minor face is equipped with 1 target ball, and the long limit is equipped with 2 target balls.
It can be appreciated that the method of constructing a visual three-dimensional image of an aircraft is: and establishing a front fuselage model, a middle fuselage model, a rear fuselage model and a wing model of the aircraft, and connecting the front fuselage model, the middle fuselage model and the rear fuselage model with the wing model to obtain a visual three-dimensional image of the aircraft, wherein the visual three-dimensional image of the aircraft is shown in fig. 7.
It can be appreciated that the construction of a visual three-dimensional image is known in the art, and common construction steps are:
s1, establishing a plurality of sub-models according to appearance characteristics of an object to be tested: for an aircraft, a front fuselage, a middle fuselage, a rear fuselage submodel, left and right wing submodels, a nose landing gear, a left main landing gear and a right main landing gear are required to be respectively established;
s2, collecting a section of position data for 2-4 seconds in a state that the aircraft is kept still on the ground;
s3, opening the acquired data in the three-dimensional image construction software, and reconstructing the measured point;
s4, connecting target measuring points in the sequence from the front machine body to the rear machine body to form a sub-model, and storing a template;
s5, repeating the step S4 to finish the creation of all sub-models;
s6, if one sub-model comprises a deformable body (such as a landing gear buffer), connecting the measuring points of the upper sleeve and the lower sleeve through a free joint operation to form the deformable body;
and S7, combining all the submodels to obtain a final three-dimensional image.
It can be appreciated that the method for tracking the measurement point comprises the following steps:
s1, as shown in FIG. 5, arranging 6 infrared tracking special camera matrixes along one side of an airplane, wherein each infrared tracking special camera matrix consists of 5 infrared tracking special cameras, each infrared tracking special camera matrix consists of a plurality of infrared tracking special cameras, target balls in the visual field range of each infrared tracking special camera are the same, each infrared tracking special camera is connected with a tera-megaswitch through a network cable, then an upper computer is electrically connected with the tera-megaswitch, the connection state of the infrared tracking special cameras is checked through the upper computer, and the data communication between the infrared tracking special cameras and the upper computer is ensured, and the connection relation of the tracking equipment is shown in FIG. 6;
s2, acquiring the visual field range of each infrared tracking special camera through an upper computer, finely adjusting the angle and the height of the infrared tracking special camera, and ensuring that all target balls are in the visual field range of the infrared tracking special camera and the target balls are positioned in the middle area of the vertical visual field range of the camera when the aircraft is placed on the ground;
s3, adjusting the height of the aircraft until the lower edge of the landing gear contacts with the force measuring platform, manually triggering and collecting a group of measuring point data, and recording the data as zero point data;
s4, establishing connection between the tera-sized exchanger and a synchronous locking device, wherein the synchronous locking device is connected with a trigger box, and determining trigger conditions for starting a space gesture and deformation test in a full-size aircraft test;
s5, when the triggering condition is triggered, starting a space gesture and deformation test, acquiring measuring point data corresponding to each contact on the aircraft in real time by an infrared tracking special camera, and transmitting the measuring point data to an upper computer;
and S6, the upper computer extracts and calculates the acquired measurement point data to obtain the aircraft space attitude and deformation data.
It can be understood that in step S1, the process of checking the connection state of the infrared tracking dedicated camera by the upper computer does not: and installing software Vicon Nexus on the upper computer, and checking the connection state of the infrared tracking special camera by the upper computer through operating the Vicon Nexus.
In step S6, the criterion that all the target balls are within the field of view of the infrared tracking dedicated camera is: each target sphere is present within the field of view of 3 cameras; the acquisition method of the measuring point data comprises the following steps: the infrared tracking special camera emits infrared light, the target ball reflects the infrared light, then the infrared tracking special camera captures a two-dimensional image of the target ball, namely a two-dimensional image of the measuring point, and then the motion capture software calculates three-dimensional coordinate data of the measuring point in a tracking coordinate system to serve as measuring point data.
It can be appreciated that in this embodiment, the motion capture software is TRACKER software; the two-dimensional image of the target sphere refers to an image of the target sphere in the X-Y plane of the tracking coordinate system, as shown in FIG. 8.
After the full-size aircraft test is finished, the obtained wing end displacement change chart is shown in fig. 9, the tire compression amount change chart of the landing gear is shown in fig. 10, the buffer compression amount change chart of the landing gear is shown in fig. 11, and the aircraft pitch angle change chart in the aircraft test is shown in fig. 12.
It can be understood that the synchronous locking device in this embodiment is a Lock Sync Box, and is used for connecting, integrating and synchronizing third party devices, so that the test system is synchronously triggered with other sensors, and keeps the time axis of collected data consistent, and specific information of the devices is shown in the website https:// www.vicon.com/hardware/devices/Lock/.
Example 2: this embodiment differs from embodiment 1 in that: the number of the target balls fixed on the single-side wing is 4, the target balls are arranged at equal intervals, and the interval between the target balls is 16cm; 23 target balls are fixed on the landing gear, 6 target balls are fixed on the landing gear, 2 target balls are arranged on the upper sleeve, and 3 target balls are arranged on the lower sleeve; each target sphere is present in the field of view of 6 cameras.
Example 3: this embodiment differs from embodiment 1 in that: the number of the target balls fixed on the single-side wing is 4, the target balls are arranged at equal intervals, and the distance between the target balls is 20cm; 26 target balls are fixed on the landing gear, 7 target balls are fixed on the landing gear, 3 target balls are arranged on the upper sleeve, and 3 target balls are arranged on the lower sleeve; each target sphere is present in the field of view of 10 cameras.
Example 4: this embodiment differs from embodiment 1 in that: the number of the target balls fixed on the single-side wing is 3, the target balls are arranged at unequal intervals, and the intervals of the target balls are 10cm, 10cm and 20cm.
It can be understood that the selection principle of the target point ball fixing position is as follows: the positions in the visual three-dimensional image of the aircraft do not overlap; thus, the target balls may or may not be disposed equidistantly.
Example 5: this embodiment differs from embodiment 1 in that: the number of the target balls fixed on the single-side wing is 3, the target balls are arranged at unequal intervals, and the intervals of the target balls are 10cm, 20cm and 10cm.
It can be understood that the selection principle of the target point ball fixing position is as follows: the positions in the visual three-dimensional image of the aircraft do not overlap; thus, the target balls may or may not be disposed equidistantly.
Claims (4)
1. A space attitude and deformation test method for full-size aircraft test is characterized in that: fixing a plurality of target balls on a frame section and wings of an airplane, calibrating a tracking coordinate system, and constructing a visual three-dimensional image of the airplane; finally, in a full-size aircraft test, taking a target ball as a measuring point, tracking the measuring point to acquire measuring point data, and calculating based on the measuring point data to obtain aircraft space attitude and deformation data; wherein a plurality of target balls arranged on a single-side wing of the airplane are positioned at the outermost edge of the wing, the target balls on the two wings are symmetrical with respect to the fuselage;
the aircraft space attitude and deformation data comprise aircraft pitch angles, aircraft roll angles, buffer compression amounts of landing gears, tire compression amounts of the landing gears and wing end displacement variation amounts;
the tracking coordinate system is established through a horizontally placed calibration coordinate system model; the X direction of the tracking coordinate system is consistent with the heading of the aircraft, the Y direction is consistent with the lateral direction of the aircraft, and the Z direction is determined by a right-hand rule on the basis of the X direction and the Y direction; the calibration coordinate system model consists of a triangular bracket and an L-shaped plate fixed on the triangular bracket, a plurality of target balls are fixed on the L-shaped plate, the short side of the L-shaped plate points to the X direction of a tracking coordinate system, the long side of the L-shaped plate points to the Y direction of the tracking coordinate system, and the intersection point of the L-shaped plate is the origin of the tracking coordinate system;
the calculation formula of the aircraft pitching angle is as follows:
in the above formula, alpha is the pitching angle of the airplane, and x is 1 For x coordinate value, z of front fuselage measuring point in tracking coordinate system 1 Z coordinate value, x of tracking coordinate system for front fuselage measuring point 0 For tracking x coordinate value, z of the coordinate system of the rear fuselage measuring point 0 A z coordinate value of a tracking coordinate system for the rear fuselage measuring point;
the calculation formula of the aircraft roll angle is as follows:
in the above, beta is the roll angle of the airplane, y 1 For the y coordinate value, z of the front fuselage measuring point in the tracking coordinate system 1 Z coordinate value, y of tracking coordinate system for front fuselage measuring point 0 Is the back ofY coordinate value, z of machine body measuring point in tracking coordinate system 0 A z coordinate value of a tracking coordinate system for the rear fuselage measuring point;
the calculation formula of the tire compression amount of the landing gear is as follows:
ΔS tire ＝(|z 2 -z 3 |+(z 2 -z 3 ))/2，
in the above, deltaS tire Z is the compression of the tyre 3 Z is the Z coordinate value of the tire measurement point 2 The z coordinate of a tire measuring point when an undercarriage of the aircraft touches the ground in a full-size aircraft test;
the calculation formula of the buffer compression amount of the landing gear is as follows:
in the above, S lg Buffer compression for landing gear, x 4 X-coordinate value, Z, of the measuring point of the lower sleeve of the buffer 4 For z-coordinate value, x of measuring point of sleeve under buffer 5 X-coordinate value, Z, of the measuring point of the sleeve on the buffer 5 The z coordinate value of the measuring point of the sleeve on the buffer is that theta is the landing gear forward inclination angle;
the wing end displacement variable quantity is the z coordinate value variable quantity of a target ball of the wing;
the method for tracking the measuring point comprises the following steps:
s1, arranging a plurality of infrared tracking special camera matrixes along one side of an airplane, wherein each infrared tracking special camera matrix consists of a plurality of infrared tracking special cameras, target balls in the visual field range of each infrared tracking special camera are the same, each infrared tracking special camera is connected with a tera-megaswitch through a network cable, then an upper computer is electrically connected with the tera-switch, the connection state of the infrared tracking special cameras is checked through the upper computer, and the data communication between the infrared tracking special cameras and the upper computer is ensured;
s2, acquiring the visual field range of each infrared tracking special camera through an upper computer, finely adjusting the angle and the height of the infrared tracking special camera, and ensuring that all target balls are in the visual field range of the infrared tracking special camera and the target balls are positioned in the middle area of the vertical visual field range of the camera when the aircraft is placed on the ground;
s3, adjusting the height of the aircraft until the lower edge of the landing gear contacts with the force measuring platform, manually triggering and collecting a group of measuring point data, and recording the data as zero point data;
s4, establishing connection between the tera-sized exchanger and a synchronous locking device, wherein the synchronous locking device is connected with a trigger box, and determining trigger conditions for starting a space gesture and deformation test in a full-size aircraft test;
s5, when the triggering condition is triggered, starting a space gesture and deformation test, acquiring measuring point data corresponding to each contact on the aircraft in real time by an infrared tracking special camera, and transmitting the measuring point data to an upper computer;
s6, the upper computer extracts and calculates the acquired measuring point data to obtain the spatial attitude and deformation data of the aircraft;
the judgment basis of all the target balls in the visual field range of the infrared tracking special camera is as follows: each target sphere exists in the field of view of 3-10 cameras; the acquisition method of the measuring point data comprises the following steps: the infrared tracking special camera emits infrared light, the target ball reflects the infrared light, then the infrared tracking special camera captures a two-dimensional image of the target ball, namely a two-dimensional image of the measuring point, and then the motion capture software calculates three-dimensional coordinate data of the measuring point in a tracking coordinate system to serve as measuring point data.
2. The method for testing the spatial attitude and deformation of the full-size aircraft according to claim 1, wherein the number of the target balls fixed on the single-side wing is 3-4, and the distance between the target balls is 10-20 cm.
3. The spatial attitude and deformation testing method for full-size aircraft test according to claim 1, wherein the fuselage frame section comprises a fuselage and a landing gear fixed on the lower side of the fuselage, 20-26 target balls are fixed on the fuselage, the fuselage comprises a front fuselage, a middle fuselage and a rear fuselage, the front fuselage is the frame section from the last frame section of the cockpit to the forefront frame section of the aircraft nose, 1 target ball is fixed on each frame section of the front fuselage, 1 target ball is fixed on each frame section of the rear fuselage from the last frame section of the landing gear to the last frame section of the tail, 1 target ball is fixed on each frame section of the rear fuselage, the middle fuselage is the rest frame section in the middle, and 1 target ball is fixed on each frame section of the middle fuselage; the landing gear comprises a buffer and a tire rotationally connected with the bottom of the buffer through a wheel shaft, an upper sleeve and a lower sleeve are arranged on the buffer, 1 target ball is arranged at the right center of the outer side of the wheel shaft, 2-3 target balls are arranged on the upper sleeve, 2-3 target balls are arranged on the lower sleeve, and the connecting line of the target balls with the upper sleeve is parallel to the stroke track of the buffer.
4. The method for testing the spatial attitude and deformation of a full-size aircraft according to claim 1, wherein the method for constructing the visual three-dimensional image of the aircraft comprises the following steps: and establishing a front fuselage model, a middle fuselage model, a rear fuselage model and a wing model of the airplane, and connecting the front fuselage model, the middle fuselage model and the rear fuselage model with the wing model to obtain a visual three-dimensional image of the airplane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311319696.XA CN117048848B (en) | 2023-10-12 | 2023-10-12 | Space attitude and deformation testing method for full-size airplane test |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311319696.XA CN117048848B (en) | 2023-10-12 | 2023-10-12 | Space attitude and deformation testing method for full-size airplane test |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117048848A CN117048848A (en) | 2023-11-14 |
| CN117048848B true CN117048848B (en) | 2024-01-05 |
Family
ID=88655838
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311319696.XA Active CN117048848B (en) | 2023-10-12 | 2023-10-12 | Space attitude and deformation testing method for full-size airplane test |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117048848B (en) |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105333848A (en) * | 2015-11-23 | 2016-02-17 | 西安航空制动科技有限公司 | Device and method for measuring aircraft tire compression amount |
| CN107091610A (en) * | 2017-04-19 | 2017-08-25 | 清华大学 | The Three-Dimensional Dynamic on-line measurement device and its measuring method of a kind of large scale structure |
| CN107869960A (en) * | 2017-11-22 | 2018-04-03 | 东南大学 | A kind of aircraft wing deformation measuring device, installation method and method of testing |
| CN107990940A (en) * | 2017-12-20 | 2018-05-04 | 武汉惟景三维科技有限公司 | A kind of moving object method for tracing based on stereo vision measuring technology |
| CN108398091A (en) * | 2018-02-06 | 2018-08-14 | 山东理工大学 | The accurate vision measuring method of blade tip three-D displacement amount |
| CN111169653A (en) * | 2019-12-11 | 2020-05-19 | 中国飞机强度研究所 | Hinge point force testing device of nose landing gear and load calibration method |
| CN111561874A (en) * | 2020-05-25 | 2020-08-21 | 中国民用航空飞行学院 | Digital measurement system and method for airplane structure deformation measurement and damage classification |
| CN112797912A (en) * | 2020-12-24 | 2021-05-14 | 中国航天空气动力技术研究院 | Binocular vision-based wing tip deformation measurement method for large flexible unmanned aerial vehicle |
| CN113237628A (en) * | 2021-07-08 | 2021-08-10 | 中国空气动力研究与发展中心低速空气动力研究所 | Method for measuring horizontal free flight model attitude of low-speed wind tunnel |
| CN113390605A (en) * | 2021-07-20 | 2021-09-14 | 中国空气动力研究与发展中心设备设计与测试技术研究所 | Full-field measurement method for wing deformation of wind tunnel test airplane |
| CN113483658A (en) * | 2021-06-25 | 2021-10-08 | 成都飞机工业（集团）有限责任公司 | Airplane reference point measuring device and method based on optical digital measurement |
| CN114459345A (en) * | 2021-12-22 | 2022-05-10 | 上海智能制造功能平台有限公司 | System and method for detecting position and attitude of airplane body based on visual space positioning |
| CN114993608A (en) * | 2022-07-18 | 2022-09-02 | 中国航空工业集团公司沈阳空气动力研究所 | Wind tunnel model three-dimensional attitude angle measuring method |
| KR102458009B1 (en) * | 2022-03-18 | 2022-10-24 | 국방과학연구소 | Aircraft alignment inspection method using laser tracker |
| CN116552802A (en) * | 2023-06-16 | 2023-08-08 | 中国飞机强度研究所 | Method for monitoring ground lifting pose of whole aircraft in aircraft structural strength test |
| CN116593121A (en) * | 2023-07-12 | 2023-08-15 | 中国航空工业集团公司沈阳空气动力研究所 | Aircraft model vibration measurement method based on monitoring camera |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180099761A1 (en) * | 2016-10-10 | 2018-04-12 | The Boeing Company | Real Time Aircraft Stress Monitoring System |
-
2023
- 2023-10-12 CN CN202311319696.XA patent/CN117048848B/en active Active
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105333848A (en) * | 2015-11-23 | 2016-02-17 | 西安航空制动科技有限公司 | Device and method for measuring aircraft tire compression amount |
| CN107091610A (en) * | 2017-04-19 | 2017-08-25 | 清华大学 | The Three-Dimensional Dynamic on-line measurement device and its measuring method of a kind of large scale structure |
| CN107869960A (en) * | 2017-11-22 | 2018-04-03 | 东南大学 | A kind of aircraft wing deformation measuring device, installation method and method of testing |
| CN107990940A (en) * | 2017-12-20 | 2018-05-04 | 武汉惟景三维科技有限公司 | A kind of moving object method for tracing based on stereo vision measuring technology |
| CN108398091A (en) * | 2018-02-06 | 2018-08-14 | 山东理工大学 | The accurate vision measuring method of blade tip three-D displacement amount |
| CN111169653A (en) * | 2019-12-11 | 2020-05-19 | 中国飞机强度研究所 | Hinge point force testing device of nose landing gear and load calibration method |
| CN111561874A (en) * | 2020-05-25 | 2020-08-21 | 中国民用航空飞行学院 | Digital measurement system and method for airplane structure deformation measurement and damage classification |
| CN112797912A (en) * | 2020-12-24 | 2021-05-14 | 中国航天空气动力技术研究院 | Binocular vision-based wing tip deformation measurement method for large flexible unmanned aerial vehicle |
| CN113483658A (en) * | 2021-06-25 | 2021-10-08 | 成都飞机工业（集团）有限责任公司 | Airplane reference point measuring device and method based on optical digital measurement |
| CN113237628A (en) * | 2021-07-08 | 2021-08-10 | 中国空气动力研究与发展中心低速空气动力研究所 | Method for measuring horizontal free flight model attitude of low-speed wind tunnel |
| CN113390605A (en) * | 2021-07-20 | 2021-09-14 | 中国空气动力研究与发展中心设备设计与测试技术研究所 | Full-field measurement method for wing deformation of wind tunnel test airplane |
| CN114459345A (en) * | 2021-12-22 | 2022-05-10 | 上海智能制造功能平台有限公司 | System and method for detecting position and attitude of airplane body based on visual space positioning |
| KR102458009B1 (en) * | 2022-03-18 | 2022-10-24 | 국방과학연구소 | Aircraft alignment inspection method using laser tracker |
| CN114993608A (en) * | 2022-07-18 | 2022-09-02 | 中国航空工业集团公司沈阳空气动力研究所 | Wind tunnel model three-dimensional attitude angle measuring method |
| CN116552802A (en) * | 2023-06-16 | 2023-08-08 | 中国飞机强度研究所 | Method for monitoring ground lifting pose of whole aircraft in aircraft structural strength test |
| CN116593121A (en) * | 2023-07-12 | 2023-08-15 | 中国航空工业集团公司沈阳空气动力研究所 | Aircraft model vibration measurement method based on monitoring camera |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117048848A (en) | 2023-11-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5440392A (en) | Method and system for point by point measurement of spatial coordinates | |
| CN110470226B (en) | Bridge structure displacement measurement method based on unmanned aerial vehicle system | |
| CN113237628B (en) | Method for measuring horizontal free flight model attitude of low-speed wind tunnel | |
| CN102944183B (en) | A kind of high-aspect ratio elastic wing measuring method | |
| CN103217100A (en) | Online binocular vision measuring device of large bus compartment | |
| CN107869960B (en) | A kind of aircraft wing deformation measuring device, installation method and test method | |
| CN111977025B (en) | Device and method for measuring motion state of externally-hung helicopter blade in flight test | |
| CN109269525B (en) | Optical measurement system and method for take-off or landing process of space probe | |
| CN109269466A (en) | Target surface relative pose measurement method and system based on characteristic point | |
| CN108681337B (en) | Unmanned aerial vehicle special for inspection of culverts or bridges and unmanned aerial vehicle inspection method | |
| CN104748696A (en) | Measuring method for full field deformation of large-dip-angle wing | |
| CN104567801B (en) | High-precision laser measuring method based on stereoscopic vision | |
| CN114993608B (en) | Wind tunnel model three-dimensional attitude angle measuring method | |
| CN110702343B (en) | Deflection measurement system and method based on stereoscopic vision | |
| CN111427451A (en) | Method for determining position of fixation point in three-dimensional scene by adopting scanner and eye tracker | |
| CN114608554B (en) | Handheld SLAM equipment and robot instant positioning and mapping method | |
| CN107478195A (en) | One kind is based on optical space object status measurement apparatus and its measuring method | |
| CN110849331A (en) | Monocular vision measurement and ground test method based on three-dimensional point cloud database model | |
| CN111241667A (en) | Method for recognizing plasma configuration based on image processing and probe data processing | |
| CN114459345B (en) | Aircraft fuselage position and posture detection system and method based on visual space positioning | |
| CN106767421B (en) | Motor-car vehicle body critical size detection system solution based on multi-vision visual | |
| CN117048848B (en) | Space attitude and deformation testing method for full-size airplane test | |
| CN104773178A (en) | Driving gesture detecting system based on MEMS (Micro-electromechanical Systems) sensors | |
| CN205300519U (en) | Iron tower warp measuring device | |
| CN112700423B (en) | Deep learning-based automatic detection method and system for surface damage defects of airframe |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |